From 3a148bc7772da69286d8e9b41c77f246efb3b526 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Igor=20Mi=C5=A1i=C4=87?= Date: Wed, 22 Sep 2021 10:57:25 +0200 Subject: [PATCH] camera_trigger: remove camera trigger secondary camera_trigger: publish trigger when capture feedback is not enabled --- msg/camera_trigger.msg | 2 +- src/drivers/camera_trigger/camera_trigger.cpp | 5 +---- src/modules/logger/logged_topics.cpp | 1 - 3 files changed, 2 insertions(+), 6 deletions(-) diff --git a/msg/camera_trigger.msg b/msg/camera_trigger.msg index 6562874c36..aeb7a82e4e 100644 --- a/msg/camera_trigger.msg +++ b/msg/camera_trigger.msg @@ -4,4 +4,4 @@ uint64 timestamp_utc # UTC timestamp uint32 seq # Image sequence number bool feedback # Trigger feedback from camera -# TOPICS camera_trigger camera_trigger_secondary \ No newline at end of file +# TOPICS camera_trigger \ No newline at end of file diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index f127b72285..b57882fbe9 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -320,8 +320,6 @@ CameraTrigger::CameraTrigger() : if (!_cam_cap_fback) { _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger); - } else { - _trigger_pub = orb_advertise(ORB_ID(camera_trigger_secondary), &trigger); } } @@ -846,11 +844,10 @@ CameraTrigger::engage(void *arg) trigger.feedback = false; trigger.timestamp = hrt_absolute_time(); + // Publish only if _cam_cap_fback is disabled, otherwise, it is published over camera_capture driver if (!trig->_cam_cap_fback) { orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger); - } else { - orb_publish(ORB_ID(camera_trigger_secondary), trig->_trigger_pub, &trigger); } // increment frame count diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index e0ce45bff3..3de518198b 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -56,7 +56,6 @@ void LoggedTopics::add_default_topics() add_topic("airspeed_validated", 200); add_topic("camera_capture"); add_topic("camera_trigger"); - add_topic("camera_trigger_secondary"); add_topic("cellular_status", 200); add_topic("commander_state"); add_topic("cpuload");